The royals and politicians assembled under a tent that had been constructed over the Nazi concentration camp's main gate, where a stage had also been set up. They listened to a series of moving speeches, and then entered the camp to leave memorial candles to honour the millions of people who lost their lives there.

Scroll through the gallery (or click through if you're on desktop) to see some of the photos from the emotional day.

She was joined by royals including Felipe, Letizia, Máxima and Willem-Alexander, who were also very moved by the speeches they heard. A week before, Felipe had been in Israel for the World Holocaust Forum with Prince Charles.